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<div class="title">wbc_priority.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024-2025 Humanoid Robot (Shanghai) Co., Ltd.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://atomgit.com/openloong/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;wbc_priority.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;iostream&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// QP_nvIn=18, QP_ncIn=22</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;WBC_priority::WBC_priority(<span class="keywordtype">int</span> model_nv_In, <span class="keywordtype">int</span> QP_nvIn, <span class="keywordtype">int</span> QP_ncIn, <span class="keywordtype">double</span> miu_In, <span class="keywordtype">double</span> dt): QP_prob(QP_nvIn, QP_ncIn) {</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    timeStep=dt;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    model_nv=model_nv_In;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    miu=miu_In;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    QP_nc=QP_ncIn;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    QP_nv=QP_nvIn;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    Sf=Eigen::MatrixXd::Zero(6,model_nv);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    Sf.block&lt;6,6&gt;(0,0)=Eigen::MatrixXd::Identity(6,6);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    St_qpV2=Eigen::MatrixXd::Zero(model_nv,model_nv-6); <span class="comment">// 6 means the dims of floating base</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    St_qpV2.block(6,0,model_nv-6,model_nv-6)=Eigen::MatrixXd::Identity(model_nv-6,model_nv-6);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    St_qpV1=Eigen::MatrixXd::Zero(model_nv,6); <span class="comment">// 6 means the dims of delta_b</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    St_qpV1.block&lt;6,6&gt;(0,0)=Eigen::MatrixXd::Identity(6,6);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// defined in body frame</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    f_z_low=10;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    f_z_upp=1400;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    tau_upp_L&lt;&lt;30,10,40;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    tau_low_L&lt;&lt;-30,-10,-40;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    qpOASES::Options options;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    options.setToMPC();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">//options.setToReliable();</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    options.printLevel=qpOASES::PL_LOW;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    QP_prob.setOptions(options);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    eigen_xOpt=Eigen::VectorXd::Zero(QP_nv);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    eigen_ddq_Opt=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    eigen_fr_Opt=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    eigen_tau_Opt=Eigen::VectorXd::Zero(model_nv-6);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    delta_q_final_kin=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    dq_final_kin=Eigen::VectorXd::Zero(model_nv);;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    ddq_final_kin=Eigen::VectorXd::Zero(model_nv);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    base_rpy_cur=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">//  WBC task defined and order build</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;static_Contact&quot;</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;Roll_Pitch_Yaw_Pz&quot;</span>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;RedundantJoints&quot;</span>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;PxPy&quot;</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;PosRot&quot;</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;SwingLeg&quot;</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;HandTrack&quot;</span>);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    kin_tasks.addTask(<span class="stringliteral">&quot;HandTrackJoints&quot;</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    std::vector&lt;std::string&gt; taskOrder;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;RedundantJoints&quot;</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;static_Contact&quot;</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">//    taskOrder.emplace_back(&quot;Roll_Pitch_Yaw_Pz&quot;);</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//    taskOrder.emplace_back(&quot;PxPy&quot;);</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;PosRot&quot;</span>);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;SwingLeg&quot;</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">//    taskOrder.emplace_back(&quot;HandTrack&quot;);</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;HandTrackJoints&quot;</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    kin_tasks.buildPriority(taskOrder);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keywordtype">void</span> WBC_priority::dataBusRead(<span class="keyword">const</span> <a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// foot-end offset posture</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    fe_L_rot_L_off=robotState.fe_L_rot_L_off;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    fe_R_rot_L_off=robotState.fe_R_rot_L_off;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// deisred values</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    base_rpy_des=robotState.base_rpy_des;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    base_rpy_cur&lt;&lt;robotState.rpy[0],robotState.rpy[1],robotState.rpy[2];</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    base_pos_des=robotState.base_pos_des;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    swing_fe_pos_des_W=robotState.swing_fe_pos_des_W;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    swing_fe_rpy_des_W=robotState.swing_fe_rpy_des_W;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    stance_fe_pos_cur_W=robotState.stance_fe_pos_cur_W;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    stance_fe_rot_cur_W=robotState.stance_fe_rot_cur_W;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    stanceDesPos_W=robotState.stanceDesPos_W;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    hd_l_pos_cur_W=robotState.hd_l_pos_W;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    hd_r_pos_cur_W=robotState.hd_r_pos_W;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    hd_l_rot_cur_W=robotState.hd_l_rot_W;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    hd_r_rot_cur_W=robotState.hd_r_rot_W;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    des_ddq=robotState.des_ddq;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    des_dq=robotState.des_dq;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    des_delta_q=robotState.des_delta_q;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    des_q = robotState.des_q;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// state update</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    J_base=robotState.J_base;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    dJ_base=robotState.dJ_base;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    base_rot=robotState.base_rot;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    base_pos=robotState.base_pos;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    Jfe=Eigen::MatrixXd::Zero(12,model_nv);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    Jfe.block(0,0,6,model_nv)=robotState.J_l;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    Jfe.block(6,0,6,model_nv)=robotState.J_r;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    J_hd_l=robotState.J_hd_l;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    J_hd_r=robotState.J_hd_r;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    dJ_hd_l=robotState.J_hd_l;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    dJ_hd_r=robotState.J_hd_r;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    Fr_ff=robotState.Fr_ff;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    dyn_M=robotState.dyn_M;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    dyn_M_inv=robotState.dyn_M_inv;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    dyn_Ag=robotState.dyn_Ag;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    dyn_dAg=robotState.dyn_dAg;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    dyn_Non=robotState.dyn_Non;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    dq=robotState.dq;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    q=robotState.q;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    legStateCur=robotState.legState;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">if</span> (legStateCur==DataBus::LSt) {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        Jc = robotState.J_l;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        dJc = robotState.dJ_l;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        Jsw = robotState.J_r;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        dJsw = robotState.dJ_r;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        fe_pos_sw_W = robotState.fe_r_pos_W;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        fe_rot_sw_W =robotState.fe_r_rot_W;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        Jc = robotState.J_r;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        dJc = robotState.dJ_r;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        Jsw = robotState.J_l;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        dJsw = robotState.dJ_l;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        fe_pos_sw_W = robotState.fe_l_pos_W;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        fe_rot_sw_W =robotState.fe_l_rot_W;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="keywordtype">void</span> WBC_priority::dataBusWrite(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    robotState.wbc_tauJointRes=tauJointRes;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    robotState.wbc_FrRes=eigen_fr_Opt;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    robotState.qp_cpuTime=cpu_time;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    robotState.qp_nWSR=nWSR;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    robotState.qp_status=qpStatus;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    robotState.wbc_delta_q_final=delta_q_final_kin;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    robotState.wbc_dq_final=dq_final_kin;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    robotState.wbc_ddq_final=ddq_final_kin;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">// QP problem contains joint torque, QP_nv=6+12, QP_nc=22;</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="keywordtype">void</span> WBC_priority::computeTau() {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// constust the QP problem, refer to the md file for more details</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    Eigen::MatrixXd eigen_qp_A1=Eigen::MatrixXd::Zero(6, QP_nv);<span class="comment">// 18 means the sum of dims of delta_r and delta_Fr</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    eigen_qp_A1.block&lt;6,6&gt;(0, 0)= Sf * dyn_M * St_qpV1;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    eigen_qp_A1.block&lt;6,12&gt;(0, 6)= -Sf * Jfe.transpose();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    Eigen::VectorXd eqRes=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    eqRes=-Sf*dyn_M*ddq_final_kin-Sf*dyn_Non+Sf*Jfe.transpose()*Fr_ff;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    Eigen::MatrixXd W=Eigen::MatrixXd::Zero(16,12);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    W(0,0)=1;W(0,2)= sqrt(2)/2.0*miu;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    W(1,0)=-1;W(1,2)= sqrt(2)/2.0*miu;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    W(2,1)=1;W(2,2)= sqrt(2)/2.0*miu;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    W(3,1)=-1;W(3,2)= sqrt(2)/2.0*miu;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    W.block&lt;4,4&gt;(4,2)=Eigen::MatrixXd::Identity(4,4);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    W.block&lt;8,6&gt;(8,6)=W.block&lt;8,6&gt;(0,0);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    Eigen::VectorXd f_low=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    Eigen::VectorXd f_upp=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    Eigen::Vector3d tau_upp_fe, tau_low_fe;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    tau_upp_fe=fe_L_rot_L_off.transpose()*tau_upp_L;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    tau_low_fe=fe_L_rot_L_off.transpose()*tau_low_L;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    Eigen::Vector3d tau_upp_W, tau_low_W;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    tau_upp_W=stance_fe_rot_cur_W*tau_upp_fe;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    tau_low_W=stance_fe_rot_cur_W*tau_low_fe;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    f_upp.block&lt;8,1&gt;(0,0)&lt;&lt;1e10,1e10,1e10,1e10,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            f_z_upp,std::max(tau_upp_W(0),tau_low_W(0)),std::max(tau_upp_W(1),tau_low_W(1)),std::max(tau_upp_W(2),tau_low_W(2));</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    f_upp.block&lt;8,1&gt;(8,0)=f_upp.block&lt;8,1&gt;(0,0);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    f_low.block&lt;8,1&gt;(0,0)&lt;&lt;0,0,0,0,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            f_z_low,std::min(tau_upp_W(0),tau_low_W(0)),std::min(tau_upp_W(1),tau_low_W(1)),std::min(tau_upp_W(2),tau_low_W(2));</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    f_low.block&lt;8,1&gt;(8,0)=f_low.block&lt;8,1&gt;(0,0);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">if</span> (legStateCur==DataBus::LSt)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        f_upp(12)=0;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        f_upp(13)=0;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        f_upp(14)=0;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        f_upp(15)=0;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        f_low(12)=0;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        f_low(13)=0;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        f_low(14)=0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        f_low(15)=0;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (legStateCur==DataBus::RSt)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        f_upp(4)=0;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        f_upp(5)=0;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        f_upp(6)=0;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        f_upp(7)=0;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        f_low(4)=0;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        f_low(5)=0;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        f_low(6)=0;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        f_low(7)=0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    Eigen::MatrixXd eigen_qp_A2=Eigen::MatrixXd::Zero(16, 18);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    eigen_qp_A2.block&lt;16,12&gt;(0,6)=W;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    Eigen::VectorXd neqRes_low=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    Eigen::VectorXd neqRes_upp=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    neqRes_low=f_low-W*Fr_ff;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    neqRes_upp=f_upp-W*Fr_ff;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    Eigen::MatrixXd eigen_qp_A_final=Eigen::MatrixXd::Zero(QP_nc,QP_nv);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    eigen_qp_A_final.block&lt;6,18&gt;(0,0)=eigen_qp_A1;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    eigen_qp_A_final.block&lt;16,18&gt;(6,0)=eigen_qp_A2;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    Eigen::VectorXd eigen_qp_lbA=Eigen::VectorXd::Zero(22);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    Eigen::VectorXd eigen_qp_ubA=Eigen::VectorXd::Zero(22);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    eigen_qp_lbA.block&lt;6,1&gt;(0,0)=eqRes;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    eigen_qp_lbA.block&lt;16,1&gt;(6,0)=neqRes_low;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    eigen_qp_ubA.block&lt;6,1&gt;(0,0)=eqRes;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    eigen_qp_ubA.block&lt;16,1&gt;(6,0)=neqRes_upp;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    Eigen::MatrixXd eigen_qp_H=Eigen::MatrixXd::Zero(QP_nv,QP_nv);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    Q2=Eigen::MatrixXd::Identity(6,6);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    Q1=Eigen::MatrixXd::Identity(12,12);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    eigen_qp_H.block&lt;6,6&gt;(0,0)=Q2*2.0*1e8;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    eigen_qp_H.block&lt;12,12&gt;(6,6)=Q1*2.0;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">// obj: (1/2)x&#39;Hx+x&#39;g</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// s.t. lbA&lt;=Ax&lt;=ubA</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="comment">//       lb&lt;=x&lt;=ub</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">//    qpOASES::real_t qp_H[QP_nv*QP_nv];</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">//    qpOASES::real_t qp_A[QP_nc*QP_nv];</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">//    qpOASES::real_t qp_g[QP_nv];</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">//    qpOASES::real_t qp_lbA[QP_nc];</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">//    qpOASES::real_t qp_ubA[QP_nc];</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">//    qpOASES::real_t xOpt_iniGuess[QP_nv];</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    copy_Eigen_to_real_t(qp_H,eigen_qp_H,eigen_qp_H.rows(),eigen_qp_H.cols());</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    copy_Eigen_to_real_t(qp_A,eigen_qp_A_final,eigen_qp_A_final.rows(),eigen_qp_A_final.cols());</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    copy_Eigen_to_real_t(qp_lbA,eigen_qp_lbA,eigen_qp_lbA.rows(),eigen_qp_lbA.cols());</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    copy_Eigen_to_real_t(qp_ubA,eigen_qp_ubA,eigen_qp_ubA.rows(),eigen_qp_ubA.cols());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    qpOASES::returnValue res;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;QP_nv;i++) {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        xOpt_iniGuess[i] = 0;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">//        xOpt_iniGuess[i] =eigen_xOpt(i);</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        qp_g[i] = 0;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    nWSR=200;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    cpu_time=timeStep;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">//    QP_prob.reset();</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    res=QP_prob.init(qp_H,qp_g,qp_A,NULL,NULL,qp_lbA,qp_ubA,nWSR,&amp;cpu_time,xOpt_iniGuess);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    qpStatus=qpOASES::getSimpleStatus(res);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">//    if (res==qpOASES::SUCCESSFUL_RETURN)</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">//        printf(&quot;WBC-QP: successful_return\n&quot;);</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="comment">//    else if (res==qpOASES::RET_MAX_NWSR_REACHED)</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">//        printf(&quot;WBC-QP: max_nwsr\n&quot;);</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">//    else if (res==qpOASES::RET_INIT_FAILED)</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">//        printf(&quot;WBC-QP: init_failed\n&quot;);</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    qpOASES::real_t xOpt[QP_nv];</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    QP_prob.getPrimalSolution(xOpt);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keywordflow">if</span> (res==qpOASES::SUCCESSFUL_RETURN)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;QP_nv;i++)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;            eigen_xOpt(i)=xOpt[i];</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    eigen_ddq_Opt=ddq_final_kin;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    eigen_ddq_Opt.block&lt;6,1&gt;(0,0)+=eigen_xOpt.block&lt;6,1&gt;(0,0);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    eigen_fr_Opt=Fr_ff+eigen_xOpt.block&lt;12,1&gt;(6,0);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    Eigen::VectorXd tauRes;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    tauRes=dyn_M*eigen_ddq_Opt+dyn_Non-Jfe.transpose()*eigen_fr_Opt;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    tauJointRes=tauRes.block(6,0,model_nv-6,1);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    last_nWSR=nWSR;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    last_cpu_time=cpu_time;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;}</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="keywordtype">void</span> WBC_priority::computeDdq(<a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a> &amp;kinSolver) {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="comment">// task definition</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordtype">int</span> <span class="keywordtype">id</span>=kin_tasks.getId(<span class="stringliteral">&quot;static_Contact&quot;</span>);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    kin_tasks.taskLib[id].errX=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    kin_tasks.taskLib[id].derrX=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    kin_tasks.taskLib[id].ddxDes=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    kin_tasks.taskLib[id].dxDes=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    kin_tasks.taskLib[id].kp=Eigen::MatrixXd::Identity(3,3)*0;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    kin_tasks.taskLib[id].kd=Eigen::MatrixXd::Identity(3,3)*0;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    kin_tasks.taskLib[id].J=Jc.block(0,0,3,model_nv);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    kin_tasks.taskLib[id].dJ=dJc.block(0,0,3,model_nv);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    kin_tasks.taskLib[id].W.diagonal()=Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordtype">id</span>=kin_tasks.getId(<span class="stringliteral">&quot;RedundantJoints&quot;</span>);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    kin_tasks.taskLib[id].errX=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        kin_tasks.taskLib[id].errX(0)=0-q(21);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        kin_tasks.taskLib[id].errX(1)=0-q(22);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        kin_tasks.taskLib[id].errX(2)=0-q(23);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        kin_tasks.taskLib[id].errX(3)=0-q(24);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        kin_tasks.taskLib[id].errX(4)=0-q(25);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    kin_tasks.taskLib[id].derrX=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    kin_tasks.taskLib[id].ddxDes=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    kin_tasks.taskLib[id].dxDes=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    kin_tasks.taskLib[id].kp=Eigen::MatrixXd::Identity(5,5)*200;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    kin_tasks.taskLib[id].kd=Eigen::MatrixXd::Identity(5,5)*20;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    kin_tasks.taskLib[id].J=Eigen::MatrixXd::Zero(5,model_nv);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        kin_tasks.taskLib[id].J(0,20)=1;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        kin_tasks.taskLib[id].J(1,21)=1;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        kin_tasks.taskLib[id].J(2,22)=1;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        kin_tasks.taskLib[id].J(3,23)=1;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        kin_tasks.taskLib[id].J(4,24)=1;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    kin_tasks.taskLib[id].dJ=Eigen::MatrixXd::Zero(5,model_nv);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    kin_tasks.taskLib[id].W.diagonal()=Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordtype">id</span>=kin_tasks.getId(<span class="stringliteral">&quot;Roll_Pitch_Yaw_Pz&quot;</span>);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    kin_tasks.taskLib[id].errX=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        Eigen::Matrix3d desRot=eul2Rot(base_rpy_des(0),base_rpy_des(1),base_rpy_des(2));</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(0, 0)=diffRot(base_rot, desRot);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        kin_tasks.taskLib[id].errX(3)=base_pos_des(2)-q(2);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    kin_tasks.taskLib[id].derrX=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        kin_tasks.taskLib[id].derrX.block&lt;3,1&gt;(0,0)=-dq.block&lt;3,1&gt;(3,0);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        kin_tasks.taskLib[id].derrX(3)=0-dq(2);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    kin_tasks.taskLib[id].ddxDes=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    kin_tasks.taskLib[id].dxDes=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    kin_tasks.taskLib[id].kp=Eigen::MatrixXd::Identity(4,4)*2000;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    kin_tasks.taskLib[id].kd=Eigen::MatrixXd::Identity(4,4)*10;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        Eigen::MatrixXd taskMap=Eigen::MatrixXd::Zero(4, 6);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        taskMap(0, 3)=1;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        taskMap(1, 4)=1;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        taskMap(2, 5)=1;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        taskMap(3, 2)=1;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    kin_tasks.taskLib[id].J=taskMap*J_base;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    kin_tasks.taskLib[id].dJ=taskMap*dJ_base;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    kin_tasks.taskLib[id].W.diagonal()=Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordtype">id</span>=kin_tasks.getId(<span class="stringliteral">&quot;PxPy&quot;</span>);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    kin_tasks.taskLib[id].errX=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        kin_tasks.taskLib[id].errX(1)=base_pos_des(1) - q(1);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    kin_tasks.taskLib[id].derrX=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;<span class="comment">//      kin_tasks.taskLib[id].derrX(0)=des_dq(0) - dq(0);//</span></div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    kin_tasks.taskLib[id].ddxDes=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    kin_tasks.taskLib[id].dxDes=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    kin_tasks.taskLib[id].kp=Eigen::MatrixXd::Identity(2,2)*1.0; <span class="comment">//100</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    kin_tasks.taskLib[id].kd=Eigen::MatrixXd::Identity(2,2)*0.0;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        taskMap=Eigen::MatrixXd::Zero(2, 6);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        taskMap(0, 0)=1;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        taskMap(1, 1)=1;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    kin_tasks.taskLib[id].J=taskMap*J_base;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    kin_tasks.taskLib[id].dJ=taskMap*dJ_base;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    kin_tasks.taskLib[id].W.diagonal()=Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="keywordtype">id</span> = kin_tasks.getId(<span class="stringliteral">&quot;PosRot&quot;</span>);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        kin_tasks.taskLib[id].errX = Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            kin_tasks.taskLib[id].errX.block(0,0,3,1) = base_pos_des - q.block(0,0,3,1);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <span class="keywordflow">if</span> (fabs(kin_tasks.taskLib[<span class="keywordtype">id</span>].errX(0))&gt;0.02)</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;                kin_tasks.taskLib[id].errX(0)=0.02* sign(kin_tasks.taskLib[<span class="keywordtype">id</span>].errX(0));</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <span class="keywordflow">if</span> (fabs(kin_tasks.taskLib[<span class="keywordtype">id</span>].errX(1))&gt;0.01)</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;               kin_tasks.taskLib[id].errX(1)=0.01* sign(kin_tasks.taskLib[<span class="keywordtype">id</span>].errX(1));</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;                desRot = eul2Rot(base_rpy_des(0), base_rpy_des(1), base_rpy_des(2));</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;            kin_tasks.taskLib[id].errX.block&lt;3, 1&gt;(3, 0) = diffRot(base_rot, desRot);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        kin_tasks.taskLib[id].derrX = -dq.block(0, 0,6,1);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        kin_tasks.taskLib[id].ddxDes = Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        kin_tasks.taskLib[id].dxDes = Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        kin_tasks.taskLib[id].kp = Eigen::MatrixXd::Identity(6, 6) * 10;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="comment">//          kin_tasks.taskLib[id].kp.block(1,1,1,1)=Eigen::MatrixXd::Identity(1, 1) * 1000;</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            kin_tasks.taskLib[id].kp.block(3,3,3,3)=Eigen::MatrixXd::Identity(3, 3) * 2000;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        kin_tasks.taskLib[id].kd = Eigen::MatrixXd::Identity(6, 6) * 1;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;<span class="comment">//          kin_tasks.taskLib[id].kd.block(1,1,1,1)=Eigen::MatrixXd::Identity(1, 1) * 500;</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;            kin_tasks.taskLib[id].kd.block(3,3,3,3)=Eigen::MatrixXd::Identity(3, 3) * 100;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        kin_tasks.taskLib[id].J = J_base;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        kin_tasks.taskLib[id].dJ = dJ_base;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        kin_tasks.taskLib[id].W.diagonal() = Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="keywordtype">id</span>=kin_tasks.getId(<span class="stringliteral">&quot;SwingLeg&quot;</span>);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    kin_tasks.taskLib[id].errX=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(0,0)=swing_fe_pos_des_W-fe_pos_sw_W;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        desRot= eul2Rot(swing_fe_rpy_des_W(0),swing_fe_rpy_des_W(1),swing_fe_rpy_des_W(2));</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(3,0)=diffRot(fe_rot_sw_W, desRot);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    kin_tasks.taskLib[id].derrX=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="comment">//        kin_tasks.taskLib[id].derrX=-Jsw*dq;</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    kin_tasks.taskLib[id].ddxDes=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    kin_tasks.taskLib[id].dxDes=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    kin_tasks.taskLib[id].kp=Eigen::MatrixXd::Identity(6,6)*3000;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    kin_tasks.taskLib[id].kp.block&lt;1,1&gt;(2,2) = kin_tasks.taskLib[<span class="keywordtype">id</span>].kp.block&lt;1,1&gt;(2,2)*0.1;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    kin_tasks.taskLib[id].kd=Eigen::MatrixXd::Identity(6,6)*20;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    kin_tasks.taskLib[id].J=Jsw;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    kin_tasks.taskLib[id].dJ=dJsw;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    kin_tasks.taskLib[id].W.diagonal()=Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="comment">// task 6: hand track</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="comment">// define swing arm motion</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="comment">//    hd_l_pos_L_des&lt;&lt;-0.02, 0.32, -0.159;</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;<span class="comment">//    hd_r_pos_L_des&lt;&lt;-0.02, -0.32, -0.159;</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="comment">//    hd_l_eul_L_des&lt;&lt;-1.7581, 0.2129, 2.9581;</span></div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;<span class="comment">//    hd_r_eul_L_des&lt;&lt;1.7581, 0.21291, -2.9581;</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    Eigen::Vector3d hd_l_eul_L_des={-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    Eigen::Vector3d hd_r_eul_L_des={1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    Eigen::Matrix3d hd_l_rot_des= eul2Rot(hd_l_eul_L_des(0),hd_l_eul_L_des(1),hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    Eigen::Matrix3d hd_r_rot_des= eul2Rot(hd_r_eul_L_des(0),hd_r_eul_L_des(1),hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    Eigen::Vector3d base2shoulder_l_pos_L_des={0.0040, 0.1616, 0.3922};</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    Eigen::Vector3d shoulder2hand_l_pos_L_des={-0.0240, 0.1584, -0.5512};</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    Eigen::Vector3d base2shoulder_r_pos_L_des={0.0040, -0.1616, 0.3922};</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    Eigen::Vector3d shoulder2hand_r_pos_L_des={-0.0240, -0.1584, -0.5512};</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keywordtype">double</span> l_hip_pitch=q(28)-qIniDes(28);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <span class="keywordtype">double</span> r_hip_pitch=q(34)-qIniDes(34);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="keywordtype">double</span> k=0.8;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    hd_l_rot_des= eul2Rot(0,-k*r_hip_pitch,0)*eul2Rot(hd_l_eul_L_des(0),hd_l_eul_L_des(1),hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    hd_r_rot_des= eul2Rot(0,-k*l_hip_pitch,0)*eul2Rot(hd_r_eul_L_des(0),hd_r_eul_L_des(1),hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    Eigen::Vector3d hd_l_pos_W_des=eul2Rot(0,-k*r_hip_pitch,0)*shoulder2hand_l_pos_L_des+base2shoulder_l_pos_L_des+base_pos;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    Eigen::Vector3d hd_r_pos_W_des=eul2Rot(0,-k*l_hip_pitch,0)*shoulder2hand_r_pos_L_des+base2shoulder_r_pos_L_des+base_pos;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    Eigen::Matrix3d hd_l_rot_W_des= hd_l_rot_des;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    Eigen::Matrix3d hd_r_rot_W_des= hd_r_rot_des;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="keywordtype">id</span>=kin_tasks.getId(<span class="stringliteral">&quot;HandTrack&quot;</span>);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    kin_tasks.taskLib[id].errX=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(0,0)=hd_l_pos_W_des-hd_l_pos_cur_W;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(3,0)=diffRot(hd_l_rot_cur_W, hd_l_rot_W_des);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(6,0)=hd_r_pos_W_des-hd_r_pos_cur_W;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        kin_tasks.taskLib[id].errX.block&lt;3,1&gt;(9,0)=diffRot(hd_r_rot_cur_W, hd_r_rot_W_des);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    kin_tasks.taskLib[id].derrX=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    kin_tasks.taskLib[id].ddxDes=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    kin_tasks.taskLib[id].dxDes=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    kin_tasks.taskLib[id].kp=Eigen::MatrixXd::Identity(12,12)*2000;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    kin_tasks.taskLib[id].kd=Eigen::MatrixXd::Identity(12,12)*20;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    kin_tasks.taskLib[id].J=Eigen::MatrixXd::Zero(12,model_nv);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        kin_tasks.taskLib[id].J.block(0,0,6,model_nv)=J_hd_l;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        kin_tasks.taskLib[id].J.block(6,0,6,model_nv)=J_hd_r;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    kin_tasks.taskLib[id].dJ=Eigen::MatrixXd::Zero(12,model_nv);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;        kin_tasks.taskLib[id].dJ.block(0,0,6,model_nv)=dJ_hd_l;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;        kin_tasks.taskLib[id].dJ.block(6,0,6,model_nv)=dJ_hd_r;</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    kin_tasks.taskLib[id].W.diagonal()=Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="comment">// define swing arm motion</span></div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    hd_l_eul_L_des = {-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    hd_r_eul_L_des = {1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    hd_l_rot_des = eul2Rot(hd_l_eul_L_des(0), hd_l_eul_L_des(1), hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    hd_r_rot_des = eul2Rot(hd_r_eul_L_des(0), hd_r_eul_L_des(1), hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    base2shoulder_l_pos_L_des = {0.0040, 0.1616, 0.3922};</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;    shoulder2hand_l_pos_L_des = {-0.0240, 0.1584, -0.5512};</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    base2shoulder_r_pos_L_des = {0.0040, -0.1616, 0.3922};</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    shoulder2hand_r_pos_L_des = {-0.0240, -0.1584, -0.5512};</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="comment">//        double l_hip_pitch = 0; //q(28) - qIniDes(28);</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;<span class="comment">//        double r_hip_pitch = 0; //q(34) - qIniDes(34);</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    k = 0.8;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    hd_l_rot_des =</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;            eul2Rot(0, -k * r_hip_pitch, 0) * eul2Rot(hd_l_eul_L_des(0), hd_l_eul_L_des(1), hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    hd_r_rot_des =</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;            eul2Rot(0, -k * l_hip_pitch, 0) * eul2Rot(hd_r_eul_L_des(0), hd_r_eul_L_des(1), hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    Eigen::Vector3d hd_l_pos_L_des =</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;            eul2Rot(0, -k * r_hip_pitch, 0) * shoulder2hand_l_pos_L_des + base2shoulder_l_pos_L_des;<span class="comment">//base_pos;</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    Eigen::Vector3d hd_r_pos_L_des =</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;            eul2Rot(0, -k * l_hip_pitch, 0) * shoulder2hand_r_pos_L_des + base2shoulder_r_pos_L_des; <span class="comment">//+ base_pos;</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <span class="keyword">auto</span> resLeg=kinSolver.computeInK_Hand(hd_l_rot_des,hd_l_pos_L_des,hd_r_rot_des,hd_r_pos_L_des);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordtype">id</span> = kin_tasks.getId(<span class="stringliteral">&quot;HandTrackJoints&quot;</span>);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    kin_tasks.taskLib[id].errX = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    kin_tasks.taskLib[id].errX=resLeg.jointPosRes.block&lt;14,1&gt;(0,0)-q.block&lt;14,1&gt;(7,0);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    kin_tasks.taskLib[id].derrX = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    kin_tasks.taskLib[id].ddxDes = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    kin_tasks.taskLib[id].dxDes = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    kin_tasks.taskLib[id].kp = Eigen::MatrixXd::Identity(14, 14) * 10; <span class="comment">//100</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    kin_tasks.taskLib[id].kd = Eigen::MatrixXd::Identity(14, 14) * 5;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    kin_tasks.taskLib[id].J = Eigen::MatrixXd::Zero(14,model_nv);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;    kin_tasks.taskLib[id].J.block(0,6,14,14)=Eigen::MatrixXd::Identity(14,14);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    kin_tasks.taskLib[id].dJ = Eigen::MatrixXd::Zero(14,model_nv);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    kin_tasks.taskLib[id].W.diagonal() = Eigen::VectorXd::Ones(model_nv);</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    kin_tasks.computeAll(des_delta_q,des_dq,des_ddq,dyn_M, dyn_M_inv, dq);</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="comment">// final WBC output collection</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    delta_q_final_kin=kin_tasks.out_delta_q;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    dq_final_kin=kin_tasks.out_dq;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    ddq_final_kin=kin_tasks.out_ddq;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;}</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;<span class="keywordtype">void</span> WBC_priority::copy_Eigen_to_real_t(qpOASES::real_t *target, <span class="keyword">const</span> Eigen::MatrixXd &amp;source, <span class="keywordtype">int</span> nRows, <span class="keywordtype">int</span> nCols) {</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nRows; i++) {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; nCols; j++) {</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                target[count++] = isinf(source(i, j)) ? qpOASES::INFTY : source(i, j);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;            }</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;}</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;<span class="keywordtype">void</span> WBC_priority::setQini(<span class="keyword">const</span> Eigen::VectorXd &amp;qIni) {</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    qIniDes=qIni;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;}</div>
<div class="ttc" id="aclassPin__KinDyn_html"><div class="ttname"><a href="classPin__KinDyn.html">Pin_KinDyn</a></div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00025">pino_kin_dyn.h:25</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00015">data_bus.h:15</a></div></div>
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